CN105966491A - Flexible leg structure with plane five-rod mechanism - Google Patents
Flexible leg structure with plane five-rod mechanism Download PDFInfo
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- CN105966491A CN105966491A CN201610539237.6A CN201610539237A CN105966491A CN 105966491 A CN105966491 A CN 105966491A CN 201610539237 A CN201610539237 A CN 201610539237A CN 105966491 A CN105966491 A CN 105966491A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 58
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 34
- 230000001360 synchronised effect Effects 0.000 claims abstract description 27
- 239000000463 material Substances 0.000 claims description 5
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 210000001226 toe joint Anatomy 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 description 27
- 210000003141 lower extremity Anatomy 0.000 description 21
- 230000033001 locomotion Effects 0.000 description 17
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 4
- 241000239290 Araneae Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 229910021529 ammonia Inorganic materials 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- -1 poly-ammonia Ester Chemical class 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a flexible leg structure with a plane five-rod mechanism. The flexible leg structure is characterized by comprising a pitching drive joint, a foot tip and a connecting rod mechanism. The pitching drive joint comprises a variable stiffness driving flexible joint, a drive motor, two harmonic reducers, a supporting frame, a synchronous pulley and a synchronous belt. The foot tip comprises a three-dimensional mechanical sensor, a three-dimensional mechanical sensor support and a foot arch. The bottom of the three-dimensional mechanical sensor is connected with the three-dimensional mechanical sensor support. The bottom of the three-dimensional mechanical sensor support is connected with the foot arch. The connecting rod mechanism comprises ten hinge points (A), (B), (C), (D), (E), (F), (G), (H), (R) and (I). Connecting rods are hinged to a conventional four-rod mechanism, a four-rod mechanism with a spring rod and a plane pentagon five-rod mechanism through the ten hinge points. The hinge points (A), (R) and (I) are used for fixing the connecting rod mechanism to the pitching drive joint.
Description
Technical field
The present invention relates to multi-foot robot platform technology, be specially a kind of planar five-bar mechanism flexible leg structure.This structure can be used
In quadruped robot.
Background technology
In existing multi-foot robot platform mechanism is studied, the Design of Mechanical Structure of quadruped robot is whole multi-foot robot
The key of system, directly affects robot load capacity and dynamic property.The design of frame for movement needs to take into account many aspects,
On the one hand robot load capacity and impact resistance need robot to have the supporting construction of high intensity and flexible slow cleverly
Rush link；On the other hand the feature of the high motor-driven high-adaptability of robot high speed require again robot have relatively low motional inertia with
And higher positive drive, to ensure the most accurate motion response ability.
Quadruped robot leg structure is mainly based on serial mechanism at present, and serial mechanism simple in construction is easy to control, but
Owing to being arranged on robot leg, therefore cause robot list lower limb motional inertia bigger；Simultaneously because serial mechanism bearing capacity
Poor, thus robot the most easily occurs joint damage, movement warp, complete machine under the ground shock effect of high-speed motion
Topple and the problem such as motion failures.Parallel institution bearing capacity is relatively strong, and motion response speed is fast, it is possible to realize robot foot
The Multidirectional-moving of end, but there is the problems such as range of movement is less.Meanwhile, current quadruped robot list lower limb is generally rigidity
Structure or have certain passive flexible structure type, this makes the robot sufficient end impact in the middle of traveling process cannot be effective
Weakening, this can constitute very adverse influence to the walking stability of robot, and excessive sufficient end impact is easily to four-footed machine
Device people's parts cause damage, reduce reliability and ruggedness, the quadruped robot that the most this version makes of parts
In the middle of walking process, the loss of energy is serious.
Summary of the invention
For the deficiencies in the prior art, what the present invention intended to solve technical problem is that: provide a kind of planar five-bar mechanism flexible leg knot
Structure, this flexible leg structure is mainly used in quadruped robot, has leg stiffness reliability ability, effectively weakens the punching of robot foot end
Hitting, greatly improve the energy utilization efficiency of robot, meanwhile, this flexible leg uses the planar five-bar mechanism design improved
Scheme, makes whole single leg mechanism have bigger rigidity mass ratio, is effectively increased the bearing capacity of robot, in order to enter one
Step improves the unstructured moving grids of this mechanism and adapts to ability, makes robot list lower limb have more preferable kinesiology performance, in this structure
On the basis of add the parallel-crank mechanism containing spring lever, effectively alleviate single lower limb quality, alleviate machine People's Bank of China
Enter the movement inertia in the middle of process, enhance robot stability in the middle of walking process.
The present invention solves described technical problem and the technical scheme is that a kind of planar five-bar mechanism flexible leg structure of design, its
It is characterised by that this flexible leg structure includes that pitching drives joint, toe and linkage three parts；
Described pitching drive joint include variation rigidity active flexible joint, drive motor, two harmonic speed reducers, bracing frame,
Synchronous pulley and Timing Belt, described harmonic speed reducer and driving motor thereof are arranged on bracing frame, one of them harmonic speed reducer
It is bolted variation rigidity active flexible joint as output；Top on the left of bracing frame, is provided with two driving motors,
The two drives the output shaft of motor to install synchronous pulley after axis hole corresponding on bracing frame；In the lower section driving motor,
Also two harmonic speed reducer correspondences are had to be arranged on the left side of bracing frame, after the power shaft of harmonic speed reducer passes corresponding axis hole, also
Synchronous pulley is installed；Timing Belt is arranged on harmonic speed reducer and the corresponding synchronous pulley driving motor；At harmonic speed reducer
Right side, one of them harmonic speed reducer is provided with variation rigidity active flexible joint；Support frame as described above constitutes a square frame
Frame, the left-right and front-back of framework is four blocks of sheet materials, but sheet material hollow out up and down；Described driving motor, harmonic speed reducer, variation rigidity
Active flexible joint is installed in the frame structure that bracing frame is constituted；
Described toe includes three-dimensional mechanical sensor, three-dimensional mechanical sensor stand and arch of foot；Below three-dimensional mechanical sensor with
Three-dimensional mechanical sensor stand connects, and is connected with arch of foot below three-dimensional mechanical sensor stand；
Described linkage has (A), (B), (C), (D), (E), (F), (G), (H), (R)
(I) totally 10 pin joints, 10 pin joints described in utilization, each rod hinge connection be a conventional four-bar mechanism,
One four-bar mechanism with spring lever and a plane pentagon five-rod；Wherein, connecting rod (AB), (BG),
And (AR) constitutes a conventional parallelogram four-bar mechanism (GR)；Connecting rod (BC), (CD), (DE) and
(EB) constituting another parallelogram four-bar mechanism with spring lever, connecting rod (CD) is described spring lever；Successively
The plane pentagon five-rod described in each connecting rod composition of connecting hinge contact (A), (B), (F), (H) and (I)；
Pin joint (A), (R), (I) drive joint for described linkage is fixed on pitching.
Compared with prior art, the planar five-bar mechanism flexible leg structure of the present invention has essential different from prior art: existing machine
Device people's lower limb structure is generally simple rod hinge connection structure, and it does not use variation rigidity active flexible joint at joint, simply
By being provided with cylindrical spring at shank, not there is active variable stiffness ability, and more robot leg structure is pacified at joint
Equipped with motor driver, this can cause leg quality to strengthen, and movement inertia is big, and low-response, bearing capacity is the strongest.And this
Invention is relative to prior art:
1. the linkage used is serial-parallel mirror mechanism, and wherein five-rod is as Planar closed chain mechanisms, is keeping open chain mechanism
Good flexibility on the basis of, the advantage having had closed chain mechanism good rigidly concurrently, have that motional inertia is low, motion response speed soon with
And the advantage such as bearing capacity is strong.Simultaneously because pitching drives joint as a separate unit, reduce robot list lower limb and enter
Motional inertia during row pitching motion, makes this mechanism have superior dynamic property；Simultaneously planar five-bar mechanism this in the lump
The introducing of online structure, makes whole single leg mechanism have bigger rigidity mass ratio, is effectively increased the bearing capacity of robot.
2. the linkage of lower limb structure includes a parallel-crank mechanism containing spring lever, improves the non-of this leg mechanism further
Structured environment adapts to ability, makes robot list lower limb have more preferable kinesiology performance.And when robot contacts to earth, parallel four
Spring lever in Bian Xing mechanism can effectively act as buffering and energy storage effect.
3. the sufficient end group of lower limb structure designs in human body foot arc structure, uses spring steel material to make, thus plays good buffering
Effect, reduce in the face of the impulsive force of robot.
4. the driving joint of lower limb structure is integrated, and one of them joint is integrated with variation rigidity active flexible joint as defeated
Go out, use this integral joint supporting structure to ensure that rigidity and the kinematic accuracy in pitching joint of support.
5. lower limb structure is driven joint by linkage, pitching, and toe is constituted, and linkage contains the parallelogram of spring lever
Mechanism and variation rigidity active flexible joint, make robot list lower limb have the highest flexibility, sufficiently improves robot in walking
Energy utilization efficiency in the middle of process, and due to the employing in variation rigidity active flexible joint, make robot be provided with certain lower limb
Portion's rigidity active control ability, makes control robot ambulation process convenient reliably when mesopodium end in contact power, can delay greatly
Subtract foot end impact, and then add part life and reliability, too increase stablizing during robot ambulation simultaneously
Property.
Accompanying drawing explanation
Fig. 1 is the overall appearance schematic diagram of planar five-bar mechanism flexible leg structure of the present invention；
Fig. 2 is that the pitching of planar five-bar mechanism flexible leg structure of the present invention drives joint perspective view；
Fig. 3 is the detonation configuration schematic diagram of the pitching driving joint parts of planar five-bar mechanism flexible leg structure of the present invention；
Fig. 4 is the linkage schematic diagram of planar five-bar mechanism flexible leg structure of the present invention；
Fig. 5 is linkage each connecting rod link position schematic diagram of planar five-bar mechanism flexible leg structure of the present invention；
Fig. 6 is the linkage spring lever perspective view of planar five-bar mechanism flexible leg structure of the present invention；
Fig. 7 is the linkage spring lever sectional structure schematic diagram of planar five-bar mechanism flexible leg structure of the present invention；
Fig. 8 is the toe structural blast schematic diagram of planar five-bar mechanism flexible leg structure of the present invention.
In Fig. 1-8,1-pitching driving joint, 2-linkage, 3-toe, 101-knuckle support, 102-1 synchronous pulley,
103-2 synchronous pulley, 104-3 synchronous pulley, 105-4 synchronous pulley, 106-1 joint drive motor, No. 107-2
Joint drive motor, 108-1 harmonic speed reducer, 109-2 harmonic speed reducer, 110-variation rigidity active flexible joint, 111-
Joint backing plate, 112-link；201-flexible joint take-off lever, 202-triangle pole, 203-spring lever, 204-toe link,
205-shank bar, hole, 206-joint three stock, 207-polished rod, 208-follower link, 209-parallel bar link, 210-exports
Bar；301-three-dimensional mechanical sensor, 302-three-dimensional mechanical sensor stand, 303-arch of foot；2031-spherical plain bearing rod end,
2032-oscillating bearing support, 2033-guide rod, 2034-spring fastening, 2035-linear bearing, 2036-spring lever link,
2037-polyurethane block, 2038-connecting plate, the super spring of 2039-.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing thereof, the present invention is described further.Embodiment is
What premise was carried out is embodied as, and gives detailed embodiment and process, but not in this, as to the application claim
The restriction of protection domain.
The planar five-bar mechanism flexible leg structure (being called for short lower limb structure, see Fig. 1-8) of present invention design includes three big modules
(three parts): pitching drives joint module (being called for short elevating movement joint) 1, bar linkage structure module (abbreviation bar linkage structure)
2 and toe module (abbreviation toe) 3；Elevating movement joint module 1 is positioned at the top of linkage module 2, toe module 3
It is positioned at the lower section (seeing Fig. 1) of linkage；
Described pitching drives joint 1 (seeing Fig. 2, Fig. 3) to include, and 101, No. 1 synchronous pulley of knuckle support 102,2 is same
Step belt wheel 104, No. 4 synchronous pulleys 105 of 103, No. 3 synchronous pulleys；106, No. 2 joint drive electricity of No. 1 joint drive motor
Machine 107,108, No. 2 harmonic speed reducers 109 of No. 1 harmonic speed reducer, variation rigidity active flexible joint 110, joint backing plate
111, the part (because being non-core part, non-label in figure) of link 112 and connecting bolt and composition shell.1
Number joint drive motor 106 and No. 2 joint drive motors 107 are arranged on top, No. 1 harmonic reduction on the right side of knuckle support 101
Device 108 and No. 2 harmonic speed reducers 109 are arranged on knuckle support 101 lower right-hand side, No. 1 joint drive motor 106 and No. 2
Joint drive motor 107 output shaft passes holes above knuckle support 101, and No. 1 joint drive motor 106 output shaft connects 1
102, No. 2 joint drive motor 107 output shafts of number synchronous pulley connect 104, No. 1 harmonic speed reducer 108 of No. 3 synchronous pulleys
With the power shaft of No. 2 harmonic speed reducers 109 through holes below knuckle support 101, No. 1 harmonic speed reducer 108 power shaft with
No. 2 synchronous pulleys 103 connect, and No. 2 harmonic speed reducer 109 power shafts and No. 4 synchronous pulleys 105 connect；No. 1 synchronous pulley
102 are connected by Timing Belt with No. 2 synchronous pulleys 103, and No. 3 synchronous pulleys 104 pass through Tong Bu with No. 4 synchronous pulleys 105
Band connects；Being connected with variation rigidity active flexible joint 110 on the right side of No. 1 harmonic speed reducer 108, No. 2 harmonic speed reducers 109 are right
Connection joint, side backing plate 111；Being connected with link 112 on the right side of knuckle support 101, link 112 is connected with shell, in figure
The part that residue is not labeled is also the important component part constituting elevating movement joint 1, and its effect is and knuckle support 101
Constitute the shell in elevating movement joint 1 together.
Described linkage 2 (seeing Fig. 4, Fig. 5) includes flexible joint take-off lever 201, triangle pole 202, spring lever 203,
Toe link 204, shank bar 205, hole, joint three stock 206, polished rod 207, follower link 208, parallel bar link
209 and take-off lever 210；
Described linkage is the planar five-bar mechanism improved, and is a kind of new of traditional two-freedom 5R type planar five-bar mechanism
Improving, wherein pitching drives joint to regard as frame, and pitching drives has two be in same level height No. 1 hinged on joint
Point (A) and No. 10 pin joints (I), be respectively articulated with two connecting rods (AB) and (IH)；No. 2 of connecting rod (AB)
Pin joint (B) place connects connecting rod (BFE), No. 2 pin joints (B), No. 6 pin joints (F), No. 5 pin joints (E)
For pin joint, No. 6 pin joints (F), in centre, connect under connecting rod (IH) and have connecting rod (HF), thus constitute one
Traditional two-freedom 5R type planar five-bar mechanism, owing to elevating movement joint is frame, this five-rod is a hyperbolic
Handle mechanism；At No. 2 pin joint (B) places of connecting rod (AB), connecting and have triangle pole (CBG), this three foot lever is positive three
Angle is placed, and No. 3 pin joints (C), No. 2 pin joints (B), three pin joints of No. 7 pin joints (G) are at the three of three foot levers
Individual apex；Also having No. 9 pin joints (R) of a pin joint on elevating movement joint, No. 9 pin joints (R) are positioned at 1
Number pin joint (A) and the position of No. 10 pin joint (I) lower middles, No. 9 pin joints (R) connect connecting rod (RG),
(RG) and triangle pole (CBG) is connected to No. 7 pin joints (G), so on driving lever (AB), it is the formation of one
Parallelogram sturcutre；No. 5 pin joint (E) places of connecting rod (BFE) connect has connecting rod (ED), at triangle pole (CBG)
No. 3 pin joints (C) to go out in the middle of No. 5 pin joints (E) with connecting rod (ED) be a spring lever, constitute
One parallelogram sturcutre with spring lever.
Specifically seeing, one end of flexible joint take-off lever 201 is connected with variation rigidity active flexible joint 110, the other end and triangle pole
202 are articulated with No. 2 pin joints (B)；Triangle pole 202 and follower link 208 are articulated with No. 7 pin joints (G), from even
Lever 208 and parallel bar link 209 are articulated with No. 9 pin joints (R), and parallel bar link 209 is with link 112 even
Connecing, ABGR constitutes a conventional parallelogram sturcutre (seeing Fig. 5)；Triangle pole 202 is connected to spring lever 203
No. 3 pin joints (C), spring lever 203 and shank bar 205 are connected to No. 4 pin joints (D), shank bar 205 and joint
Three hole stocks 206 are articulated with No. 5 pin joints (E), hole, joint three stock 206 and triangle pole 202 and flexible joint output
Bar 201 is articulated with No. 2 pin joints (B) simultaneously；BCDE constitutes a parallelogram sturcutre with spring lever and (sees
Fig. 5)；Hole, joint three stock 206 and polished rod 207 are articulated with No. 6 pin joints (F), and polished rod 207 cuts with scissors with take-off lever 210
Being connected to No. 8 pin joints (H), take-off lever 210 is connected with joint backing plate；ABFHI constitutes a planar five-bar mechanism (ginseng
See Fig. 5).
Spring lever 203 (seeing Fig. 6, Fig. 7) left-half in described linkage 2, by spherical plain bearing rod end 2031, is closed
Bearings support 2032, guide rod 2033, spring fastening 2034, linear bearing 2035, spring lever link 2036, poly-ammonia
Ester block 2037, connecting plate 2038 and super spring 2039 form, and the bearing spider of linear bearing 2035 does not marks.Left end is
Spherical plain bearing rod end 2031, connects oscillating bearing support 2032, oscillating bearing support 2032 on the right of spherical plain bearing rod end 2031
Being connected to guide rod 2033, overlap spring fastening 2034 on the left of guide rod 2033, linear bearing 2035 bearing spider is installed on right side,
Connecting spring lever link 2036 on the right side of linear bearing 2035 bearing spider, guide rod 2033 other end is with polyurethane block 2037 even
Connect.Spring lever 203 right-hand part part is full symmetric with left-half structure, does not repeats.
Described toe 3 is made up of three-dimensional mechanical sensor 301, three-dimensional mechanical sensor stand 302 and arch of foot 303.Three-dimensional force
Learning sensor 301 to be connected on linkage 2 by toe link 204, three-dimensional mechanical sensor 301 is below and three-dimensional force
Learning sensor stand 302 to connect, three-dimensional mechanical sensor stand 302 is connected with arch of foot 303 below.
Described toe 3 is symmetrical structure, and arch of foot coefficient is 0.33, uses spring steel to make.
The power transmission route of lower limb structure of the present invention is as follows: No. 1 joint drive motor 106 will export power through No. 1 Timing Belt
Wheel 102, Timing Belt, No. 2 synchronous pulleys 103, power is sent to 108, No. 1 harmonic speed reducer of No. 1 harmonic speed reducer
The power sent is sent to variation rigidity active flexible joint 110 by 108, and power is passed by variation rigidity active flexible joint 110
Deliver to linkage 2；No. 2 joint drive motors 107 by power through No. 3 synchronous pulleys 104, Timing Belt, No. 4 synchronizations
Power is sent to 109, No. 2 harmonic speed reducers 109 of No. 2 harmonic speed reducers and sends power to joint backing plate by belt wheel 105
111, joint backing plate 111 is connected with linkage 2；Linkage 2 is connected with robot toe 3, and finally, power is passed
Deliver to robot toe 3 end.
Operation principle and the work process of lower limb structure of the present invention be: lower limb structure of the present invention is new design.Linkage 2 is for improving
Planar five-bar mechanism, by coupling No. 1 joint drive motor 106 and No. 2 joint drive motors 107 under different operating modes
Rotating speed and torque, in drive link mechanism, the relative position of each bar changes, linkage drive again toe occur position
Change, thus, it is thus achieved that different single lower limb gaits, lower limb structure of the present invention is mostly installed on quadruped robot, it is possible to obtain no
Same quadruped robot gait.
After lower limb structure of the present invention is arranged on quadruped robot fuselage, when quadruped robot is walked, the sufficient end of each lower limb and ground
The contact force in face can because robot carrying quality, walking acceleration and speed, pavement behavior, the difference of fuselage attitude and
Difference, foot end is recorded by three-dimensional mechanical sensor 301 with ground contact force, and measured amount is sent to robot control unit, warp
Cross control unit and calculate the gap of foot end and the actual contact force in ground with theoretical contact power, and then control unit controls variation rigidity master
Dynamic flexible joint changes joint stiffness value, finally makes robot foot end and ground contact force reach perfect condition.
The present invention does not addresses part and is applicable to prior art.
Claims (2)
1. a planar five-bar mechanism flexible leg structure, it is characterised in that this flexible leg structure includes that pitching drives joint, toe
And linkage three parts；
Described pitching drive joint include variation rigidity active flexible joint, drive motor, two harmonic speed reducers, bracing frame,
Synchronous pulley and Timing Belt, described harmonic speed reducer and driving motor thereof are arranged on bracing frame, one of them harmonic speed reducer
It is bolted variation rigidity active flexible joint as output；Top on the left of bracing frame, is provided with two driving motors,
The two drives the output shaft of motor to install synchronous pulley after axis hole corresponding on bracing frame；In the lower section driving motor,
Also two harmonic speed reducer correspondences are had to be arranged on the left side of bracing frame, after the power shaft of harmonic speed reducer passes corresponding axis hole, also
Synchronous pulley is installed；Timing Belt is arranged on harmonic speed reducer and the corresponding synchronous pulley driving motor；At harmonic speed reducer
Right side, one of them harmonic speed reducer is provided with variation rigidity active flexible joint；Support frame as described above constitutes a square frame
Frame, the left-right and front-back of framework is four blocks of sheet materials, but sheet material hollow out up and down；Described driving motor, harmonic speed reducer, variation rigidity
Active flexible joint is installed in the frame structure that bracing frame is constituted；
Described toe includes three-dimensional mechanical sensor, three-dimensional mechanical sensor stand and arch of foot；Below three-dimensional mechanical sensor with
Three-dimensional mechanical sensor stand connects, and is connected with arch of foot below three-dimensional mechanical sensor stand；
Described linkage has (A), (B), (C), (D), (E), (F), (G), (H), (R) and (I) totally 10
Pin joint, 10 pin joints described in utilization, each rod hinge connection be a conventional four-bar mechanism, one with spring lever
Four-bar mechanism and a plane pentagon five-rod；Wherein, connecting rod (AB), (BG), (GR) and (AR) constitutes one
The parallelogram four-bar mechanism of individual routine；Connecting rod (BC), (CD), (DE) and (EB) constitutes another with spring lever
Parallelogram four-bar mechanism, connecting rod (CD) is described spring lever；Be sequentially connected with pin joint (A), (B), (F),
(H) the plane pentagon five-rod and described in each connecting rod composition of (I)；Pin joint (A), (R), (I) are for described company
Linkage is fixed on pitching and drives on joint.
Planar five-bar mechanism flexible leg structure the most according to claim 1, it is characterised in that described toe is symmetrical structure,
Arch of foot coefficient is 0.33, uses spring steel to make.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610539237.6A CN105966491B (en) | 2016-07-08 | 2016-07-08 | A kind of planar five-bar mechanism flexible leg structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610539237.6A CN105966491B (en) | 2016-07-08 | 2016-07-08 | A kind of planar five-bar mechanism flexible leg structure |
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| CN105966491B CN105966491B (en) | 2017-12-26 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263746A (en) * | 2018-09-17 | 2019-01-25 | 重庆大学 | Leg mechanism and its bio-robot based on double-crank compound linkages |
| CN111846008A (en) * | 2020-07-30 | 2020-10-30 | 哈尔滨工业大学 | Biped robot with variable-rigidity ankle joint |
| CN112319647A (en) * | 2020-11-06 | 2021-02-05 | 华南理工大学广州学院 | Multi-rod quadruped robot |
| CN112644598A (en) * | 2020-12-31 | 2021-04-13 | 郑州大学 | Walking mechanical device |
| CN112722112A (en) * | 2021-02-02 | 2021-04-30 | 浙江海伦园艺股份有限公司 | Mechanical bionic foot and bionic walking robot |
| CN112987769A (en) * | 2021-02-22 | 2021-06-18 | 武汉科技大学 | Active leg adjusting method for stable transition of quadruped robot in variable-rigidity terrain |
| CN114291182A (en) * | 2022-01-06 | 2022-04-08 | 无锡陆吾智能科技有限公司 | Light-duty high performance four-footed robot |
| CN115214818A (en) * | 2022-07-29 | 2022-10-21 | 哈尔滨工业大学 | Humanoid foot plate system with integral structure for biped robot |
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| CN109263746A (en) * | 2018-09-17 | 2019-01-25 | 重庆大学 | Leg mechanism and its bio-robot based on double-crank compound linkages |
| CN111846008A (en) * | 2020-07-30 | 2020-10-30 | 哈尔滨工业大学 | Biped robot with variable-rigidity ankle joint |
| CN112319647A (en) * | 2020-11-06 | 2021-02-05 | 华南理工大学广州学院 | Multi-rod quadruped robot |
| CN112319647B (en) * | 2020-11-06 | 2023-10-03 | 华南理工大学广州学院 | Multi-rod four-foot robot |
| CN112644598A (en) * | 2020-12-31 | 2021-04-13 | 郑州大学 | Walking mechanical device |
| CN112644598B (en) * | 2020-12-31 | 2022-03-29 | 郑州大学 | Walking mechanical device |
| CN112722112A (en) * | 2021-02-02 | 2021-04-30 | 浙江海伦园艺股份有限公司 | Mechanical bionic foot and bionic walking robot |
| CN112722112B (en) * | 2021-02-02 | 2022-06-03 | 浙江海伦园艺股份有限公司 | Mechanical bionic foot and bionic walking robot |
| CN112987769A (en) * | 2021-02-22 | 2021-06-18 | 武汉科技大学 | Active leg adjusting method for stable transition of quadruped robot in variable-rigidity terrain |
| CN114291182A (en) * | 2022-01-06 | 2022-04-08 | 无锡陆吾智能科技有限公司 | Light-duty high performance four-footed robot |
| CN114291182B (en) * | 2022-01-06 | 2023-07-21 | 无锡陆吾智能科技有限公司 | Four-foot robot |
| CN115214818A (en) * | 2022-07-29 | 2022-10-21 | 哈尔滨工业大学 | Humanoid foot plate system with integral structure for biped robot |
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